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The chosen numerical method was multi variables minimization.
First, numerical method was constructed to calculate contact characteristics.
The numerical method was validated by comparing with experimental data.
Additionally, a comparison between each numerical method was performed.
Then a numerical method was used to solve the inverse kinematics equations.
The numerical method was mass-conservative and non-iterative.
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However, this numerical method is not stable.
The numerical method is also supported.
The numerical method is then programmed using MATLAB R2010a software.
Our numerical method is mass conserved and second-order accurate.
Results of numerical method are shown in Fig. 9.
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